hard20 pts · first answer countsinterruptsreal-time

Missed motor control interrupts

A 20 kHz motor control interrupt sometimes runs late. Logging code elsewhere disables all interrupts while formatting strings. What is the best fix?

A.Keep critical sections very short, use BASEPRI-based masking so the high-priority control interrupt is never blocked, and move slow work out of themB.Lower the motor control interrupt priorityC.Disable interrupts for longer so logging finishes fasterD.Increase the logging buffer size only

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Missed motor control interrupts

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